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micropython/ports/stm32/can.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2014-2018 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "py/runtime.h"
#include "py/mperrno.h"
#include "py/mphal.h"
#include "can.h"
#include "irq.h"
#if MICROPY_HW_ENABLE_CAN
void can_init0(void) {
for (uint i = 0; i < MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all)); i++) {
MP_STATE_PORT(pyb_can_obj_all)[i] = NULL;
}
}
void can_deinit_all(void) {
for (int i = 0; i < MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all)); i++) {
pyb_can_obj_t *can_obj = MP_STATE_PORT(pyb_can_obj_all)[i];
if (can_obj != NULL) {
can_deinit(can_obj);
}
}
}
#if !MICROPY_HW_ENABLE_FDCAN
bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart) {
CAN_InitTypeDef *init = &can_obj->can.Init;
init->Mode = mode << 4; // shift-left so modes fit in a small-int
init->Prescaler = prescaler;
init->SJW = ((sjw - 1) & 3) << 24;
init->BS1 = ((bs1 - 1) & 0xf) << 16;
init->BS2 = ((bs2 - 1) & 7) << 20;
init->TTCM = DISABLE;
init->ABOM = auto_restart ? ENABLE : DISABLE;
init->AWUM = DISABLE;
init->NART = DISABLE;
init->RFLM = DISABLE;
init->TXFP = DISABLE;
CAN_TypeDef *CANx = NULL;
uint32_t sce_irq = 0;
const machine_pin_obj_t *pins[2];
switch (can_obj->can_id) {
#if defined(MICROPY_HW_CAN1_TX)
case PYB_CAN_1:
CANx = CAN1;
sce_irq = CAN1_SCE_IRQn;
pins[0] = MICROPY_HW_CAN1_TX;
pins[1] = MICROPY_HW_CAN1_RX;
__HAL_RCC_CAN1_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_CAN2_TX)
case PYB_CAN_2:
CANx = CAN2;
sce_irq = CAN2_SCE_IRQn;
pins[0] = MICROPY_HW_CAN2_TX;
pins[1] = MICROPY_HW_CAN2_RX;
__HAL_RCC_CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
__HAL_RCC_CAN2_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_CAN3_TX)
case PYB_CAN_3:
CANx = CAN3;
sce_irq = CAN3_SCE_IRQn;
pins[0] = MICROPY_HW_CAN3_TX;
pins[1] = MICROPY_HW_CAN3_RX;
__HAL_RCC_CAN3_CLK_ENABLE(); // CAN3 is a "master" and doesn't need CAN1 enabled as well
break;
#endif
default:
return false;
}
// init GPIO
uint32_t pin_mode = MP_HAL_PIN_MODE_ALT;
uint32_t pin_pull = MP_HAL_PIN_PULL_UP;
for (int i = 0; i < 2; i++) {
if (!mp_hal_pin_config_alt(pins[i], pin_mode, pin_pull, AF_FN_CAN, can_obj->can_id)) {
return false;
}
}
// init CANx
can_obj->can.Instance = CANx;
HAL_CAN_Init(&can_obj->can);
can_obj->is_enabled = true;
can_obj->num_error_warning = 0;
can_obj->num_error_passive = 0;
can_obj->num_bus_off = 0;
__HAL_CAN_ENABLE_IT(&can_obj->can, CAN_IT_ERR | CAN_IT_BOF | CAN_IT_EPV | CAN_IT_EWG);
NVIC_SetPriority(sce_irq, IRQ_PRI_CAN);
HAL_NVIC_EnableIRQ(sce_irq);
return true;
}
void can_deinit(pyb_can_obj_t *self) {
self->is_enabled = false;
HAL_CAN_DeInit(&self->can);
if (self->can.Instance == CAN1) {
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
__HAL_RCC_CAN1_FORCE_RESET();
__HAL_RCC_CAN1_RELEASE_RESET();
__HAL_RCC_CAN1_CLK_DISABLE();
#if defined(CAN2)
} else if (self->can.Instance == CAN2) {
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn);
__HAL_RCC_CAN2_FORCE_RESET();
__HAL_RCC_CAN2_RELEASE_RESET();
__HAL_RCC_CAN2_CLK_DISABLE();
#endif
#if defined(CAN3)
} else if (self->can.Instance == CAN3) {
HAL_NVIC_DisableIRQ(CAN3_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN3_RX1_IRQn);
HAL_NVIC_DisableIRQ(CAN3_SCE_IRQn);
__HAL_RCC_CAN3_FORCE_RESET();
__HAL_RCC_CAN3_RELEASE_RESET();
__HAL_RCC_CAN3_CLK_DISABLE();
#endif
}
}
void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) {
CAN_FilterConfTypeDef filter;
filter.FilterIdHigh = 0;
filter.FilterIdLow = 0;
filter.FilterMaskIdHigh = 0;
filter.FilterMaskIdLow = 0;
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterNumber = f;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_16BIT;
filter.FilterActivation = DISABLE;
filter.BankNumber = bank;
HAL_CAN_ConfigFilter(NULL, &filter);
}
int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms) {
volatile uint32_t *rfr;
if (fifo == CAN_FIFO0) {
rfr = &can->Instance->RF0R;
} else {
rfr = &can->Instance->RF1R;
}
// Wait for a message to become available, with timeout
uint32_t start = HAL_GetTick();
while ((*rfr & 3) == 0) {
MICROPY_EVENT_POLL_HOOK
if (HAL_GetTick() - start >= timeout_ms) {
return -MP_ETIMEDOUT;
}
}
// Read message data
CAN_FIFOMailBox_TypeDef *box = &can->Instance->sFIFOMailBox[fifo];
msg->IDE = box->RIR & 4;
if (msg->IDE == CAN_ID_STD) {
msg->StdId = box->RIR >> 21;
} else {
msg->ExtId = box->RIR >> 3;
}
msg->RTR = box->RIR & 2;
msg->DLC = box->RDTR & 0xf;
msg->FMI = box->RDTR >> 8 & 0xff;
uint32_t rdlr = box->RDLR;
data[0] = rdlr;
data[1] = rdlr >> 8;
data[2] = rdlr >> 16;
data[3] = rdlr >> 24;
uint32_t rdhr = box->RDHR;
data[4] = rdhr;
data[5] = rdhr >> 8;
data[6] = rdhr >> 16;
data[7] = rdhr >> 24;
// Release (free) message from FIFO
*rfr |= CAN_RF0R_RFOM0;
return 0; // success
}
// We have our own version of CAN transmit so we can handle Timeout=0 correctly.
HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) {
uint32_t transmitmailbox;
uint32_t tickstart;
uint32_t rqcpflag = 0;
uint32_t txokflag = 0;
// Check the parameters
assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
// Select one empty transmit mailbox
if ((hcan->Instance->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
transmitmailbox = CAN_TXMAILBOX_0;
rqcpflag = CAN_FLAG_RQCP0;
txokflag = CAN_FLAG_TXOK0;
} else if ((hcan->Instance->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
transmitmailbox = CAN_TXMAILBOX_1;
rqcpflag = CAN_FLAG_RQCP1;
txokflag = CAN_FLAG_TXOK1;
} else if ((hcan->Instance->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
transmitmailbox = CAN_TXMAILBOX_2;
rqcpflag = CAN_FLAG_RQCP2;
txokflag = CAN_FLAG_TXOK2;
} else {
transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
}
if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
// Set up the Id
hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if (hcan->pTxMsg->IDE == CAN_ID_STD) {
assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
hcan->pTxMsg->RTR);
} else {
assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
hcan->pTxMsg->IDE | \
hcan->pTxMsg->RTR);
}
// Set up the DLC
hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
// Set up the data field
hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
((uint32_t)hcan->pTxMsg->Data[2] << 16) |
((uint32_t)hcan->pTxMsg->Data[1] << 8) |
((uint32_t)hcan->pTxMsg->Data[0]));
hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
((uint32_t)hcan->pTxMsg->Data[6] << 16) |
((uint32_t)hcan->pTxMsg->Data[5] << 8) |
((uint32_t)hcan->pTxMsg->Data[4]));
// Request transmission
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
if (Timeout == 0) {
return HAL_OK;
}
// Get tick
tickstart = HAL_GetTick();
// Check End of transmission flag
while (!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) {
// Check for the Timeout
if (Timeout != HAL_MAX_DELAY) {
if ((HAL_GetTick() - tickstart) > Timeout) {
// When the timeout expires, we try to abort the transmission of the packet
__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);
while (!__HAL_CAN_GET_FLAG(hcan, rqcpflag)) {
}
if (__HAL_CAN_GET_FLAG(hcan, txokflag)) {
// The abort attempt failed and the message was sent properly
return HAL_OK;
} else {
return HAL_TIMEOUT;
}
}
}
}
return HAL_OK;
} else {
return HAL_BUSY;
}
}
STATIC void can_rx_irq_handler(uint can_id, uint fifo_id) {
mp_obj_t callback;
pyb_can_obj_t *self;
mp_obj_t irq_reason = MP_OBJ_NEW_SMALL_INT(0);
byte *state;
self = MP_STATE_PORT(pyb_can_obj_all)[can_id - 1];
if (fifo_id == CAN_FIFO0) {
callback = self->rxcallback0;
state = &self->rx_state0;
} else {
callback = self->rxcallback1;
state = &self->rx_state1;
}
switch (*state) {
case RX_STATE_FIFO_EMPTY:
__HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1);
irq_reason = MP_OBJ_NEW_SMALL_INT(0);
*state = RX_STATE_MESSAGE_PENDING;
break;
case RX_STATE_MESSAGE_PENDING:
__HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo_id == CAN_FIFO0) ? CAN_FLAG_FF0 : CAN_FLAG_FF1);
irq_reason = MP_OBJ_NEW_SMALL_INT(1);
*state = RX_STATE_FIFO_FULL;
break;
case RX_STATE_FIFO_FULL:
__HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo_id == CAN_FIFO0) ? CAN_FLAG_FOV0 : CAN_FLAG_FOV1);
irq_reason = MP_OBJ_NEW_SMALL_INT(2);
*state = RX_STATE_FIFO_OVERFLOW;
break;
case RX_STATE_FIFO_OVERFLOW:
// This should never happen
break;
}
pyb_can_handle_callback(self, fifo_id, callback, irq_reason);
}
STATIC void can_sce_irq_handler(uint can_id) {
pyb_can_obj_t *self = MP_STATE_PORT(pyb_can_obj_all)[can_id - 1];
if (self) {
self->can.Instance->MSR = CAN_MSR_ERRI;
uint32_t esr = self->can.Instance->ESR;
if (esr & CAN_ESR_BOFF) {
++self->num_bus_off;
} else if (esr & CAN_ESR_EPVF) {
++self->num_error_passive;
} else if (esr & CAN_ESR_EWGF) {
++self->num_error_warning;
}
}
}
#if defined(MICROPY_HW_CAN1_TX)
void CAN1_RX0_IRQHandler(void) {
IRQ_ENTER(CAN1_RX0_IRQn);
can_rx_irq_handler(PYB_CAN_1, CAN_FIFO0);
IRQ_EXIT(CAN1_RX0_IRQn);
}
void CAN1_RX1_IRQHandler(void) {
IRQ_ENTER(CAN1_RX1_IRQn);
can_rx_irq_handler(PYB_CAN_1, CAN_FIFO1);
IRQ_EXIT(CAN1_RX1_IRQn);
}
void CAN1_SCE_IRQHandler(void) {
IRQ_ENTER(CAN1_SCE_IRQn);
can_sce_irq_handler(PYB_CAN_1);
IRQ_EXIT(CAN1_SCE_IRQn);
}
#endif
#if defined(MICROPY_HW_CAN2_TX)
void CAN2_RX0_IRQHandler(void) {
IRQ_ENTER(CAN2_RX0_IRQn);
can_rx_irq_handler(PYB_CAN_2, CAN_FIFO0);
IRQ_EXIT(CAN2_RX0_IRQn);
}
void CAN2_RX1_IRQHandler(void) {
IRQ_ENTER(CAN2_RX1_IRQn);
can_rx_irq_handler(PYB_CAN_2, CAN_FIFO1);
IRQ_EXIT(CAN2_RX1_IRQn);
}
void CAN2_SCE_IRQHandler(void) {
IRQ_ENTER(CAN2_SCE_IRQn);
can_sce_irq_handler(PYB_CAN_2);
IRQ_EXIT(CAN2_SCE_IRQn);
}
#endif
#if defined(MICROPY_HW_CAN3_TX)
void CAN3_RX0_IRQHandler(void) {
IRQ_ENTER(CAN3_RX0_IRQn);
can_rx_irq_handler(PYB_CAN_3, CAN_FIFO0);
IRQ_EXIT(CAN3_RX0_IRQn);
}
void CAN3_RX1_IRQHandler(void) {
IRQ_ENTER(CAN3_RX1_IRQn);
can_rx_irq_handler(PYB_CAN_3, CAN_FIFO1);
IRQ_EXIT(CAN3_RX1_IRQn);
}
void CAN3_SCE_IRQHandler(void) {
IRQ_ENTER(CAN3_SCE_IRQn);
can_sce_irq_handler(PYB_CAN_3);
IRQ_EXIT(CAN3_SCE_IRQn);
}
#endif
#endif // !MICROPY_HW_ENABLE_FDCAN
#endif // MICROPY_HW_ENABLE_CAN
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